一种车载组合导航系统航向修正方法研究

Research on Heading Error Correction of Vehicle Intergrated Navigation System

关键词:  车载组合导航系统  可观测性  加速度  航向角误差

Key words:  Vehicle integrated navigation system  Observability  Acceleration  Heading error

摘要:

针对车载组合导航系统航向误差难以修正的问题，对航向角误差可观测性进行分析，并提出一种基于加速度变化的航向误差可观测性分析的误差修正方法。首先利用分段线性定常系统（PWCS）可观测性分析法和奇异值（SVD）分析法对不同加速度变化情况下的组合导航系统航向角误差进行可观测性分析，得出航向角误差的可观测度与加速度变化的剧烈程度正相关的结论。在不同加速度变化情况下，对航向角误差的滤波估计进行仿真，总结出加速度变化过程中的收敛规律，从而提出根据加速度变化情况对航向误差进行修正的方法。最后实验结果表明，通过该方法能够有效地减小航向角误差导致的位置误差，提高导航精度。

Abstract:

Due to heading error on vehicle integrated navigation system can not be corrected，a method is proposed to judge the observability of the heading error by acceleration and correct the heading error when the error is observable.Firstly the observability of heading error is analyzed by the analysis method of piece-wise constant systems（PWCS）and method of singular value decomposition（SVD）.Positive correlation is found between the observabilities of heading error and the changing amplitude of acceleration.Carry out simulation test upon Kalman filter on different acceleration standards，the correct method is proposed.Finally the results of experiment indicate that the method can correct heading error and improve the precision of position effectively.